4x4 homogeneous matrix class. Supports both affine and projective operations. More...

#include <Matrix4.h>

Inheritance diagram for honey::Matrix< 4, 4, Real, Options >:

Collaboration diagram for honey::Matrix< 4, 4, Real, Options >:

Public Types
typedef Vec< s_rows, Real >	VecCol

typedef Vec< s_cols, Real, matrix::Option::vecRow >	VecRow

Public Types inherited from honey::MatrixBase< Matrix< 4, 4, Real, Options > >
typedef Matrix< 4, 4, Real, Options >	MatrixS

typedef Vec< s_rows, Real >	VecCol

typedef Vec< s_cols, Real, matrix::Option::vecRow >	VecRow

Public Member Functions
	Matrix ()
	No init. More...

	Matrix (Real _00, Real _01, Real _02, Real _03, Real _10, Real _11, Real _12, Real _13, Real _20, Real _21, Real _22, Real _23, Real _30, Real _31, Real _32, Real _33)
	Construct from values. More...

	Matrix (Real scalar)
	Initialize with scalar in every element. More...

	Matrix (const Real *a, sdt rows, sdt cols, bool rowMajor=true)
	Initialize from array with dimensions (rows x cols). If the array is in row-major format set rowMajor to true, otherwise set to false for column-major. More...

	Matrix (const Quat &q)
	Construct from quaternion. More...

	Matrix (const Transform &tm)
	Initialize from transform. More...

template<class T >
	Matrix (const MatrixBase< T > &rhs)
	Construct from matrix of same size. More...

template<class T >
Matrix< s_rows, T::s_cols, Real >	operator* (const T &rhs) const
	Forward to base. More...

Matrix	operator* (Real rhs) const

Matrix &	fromIdentity ()
	Make matrix identity. More...

Matrix &	fromTrs (const Vec3 &trans, const Quat &rot=Quat::identity, const Vec3 &scale=Vec3::one, const Quat &skew=Quat::identity)
	Init from translation, rotation, scale and skew. More...

Matrix &	fromScalar (Real f)
	Initialize with scalar in every element. More...

Matrix &	fromTm (const Transform &tm)
	Initialize from transform. More...

Matrix &	fromObliqueProjection (const Vec3 &normal, const Vec3 &point, const Vec3 &dir)
	Construct a matrix that represents a projection onto a plane along a direction. More...

Matrix &	fromPerspectiveProjection (const Vec3 &normal, const Vec3 &point, const Vec3 &eye)
	Construct a matrix that represents a perspective projection onto a plane. More...

Matrix &	fromReflection (const Vec3 &normal, const Vec3 &point)
	Construct a matrix that represents a reflection on a plane. More...

Matrix &	fromLookAt (const Vec3 &eye, const Vec3 &at, const Vec3 &up)
	Construct a matrix suitable for a camera. More...

template<class T >
Matrix &	operator= (const MatrixBase< T > &rhs)
	Assign to matrix of same size. More...

Matrix &	mul (const Matrix &rhs, Matrix &res) const

Matrix &&	mul (const Matrix &rhs, Matrix &&res) const

VecCol	operator* (const VecCol &v) const
	Square matrix, so multiplying a column vector on the right returns a column vector of the same dimension. More...

Vec3	operator* (const Vec3 &v) const
	Assumes vector has w = 1, transforms and projects result back into w = 1. More...

Vec2	operator* (const Vec2 &v) const
	Assumes vector has (z,w) = (0,1), transforms and projects result back into w = 1. More...

Vec3	mulAffine (const Vec3 &v) const
	Transform vector with affine part of matrix (apply pos/rot/scale). Same as operator*() but without projection back into w = 1. More...

Vec3	mulRotScale (const Vec3 &v) const
	Transform vector with upper-left 3x3 rot/scale sub-matrix (no translation) More...

Matrix &	transpose (Matrix &res) const

Matrix &&	transpose (Matrix &&res) const

void	transposeInPlace ()

Matrix &	transposeMul (const Matrix &rhs, Matrix &res) const

Matrix &&	transposeMul (const Matrix &rhs, Matrix &&res) const

Matrix &	mulTranspose (const Matrix &rhs, Matrix &res) const

Matrix &&	mulTranspose (const Matrix &rhs, Matrix &&res) const

Matrix &	transposeMulTranspose (const Matrix &rhs, Matrix &res) const

Matrix &&	transposeMulTranspose (const Matrix &rhs, Matrix &&res) const

void	orthonormalize ()
	Gram-Schmidt orthonormalization on upper-left 3x3 submatrix. Useful for re-normalizing an orthonormal basis to eliminate rounding errors. More...

Matrix	inverse (optional< Real & > det=optnull) const
	Get the inverse of this matrix. The determinant will be returned in det if specified. More...

Matrix	adjugate () const
	The adjugate matrix is the transpose of the cofactor matrix (used in inversion) More...

Real	determinant () const
	Get the determinant. More...

void	decompose (optional< Vec3 & > trans=optnull, optional< Quat & > rot=optnull, optional< Vec3 & > scale=optnull, optional< Quat & > skew=optnull) const
	Decompose matrix into translation, rotation, scale and skew. More...

Vec3	getTrans () const
	Get translation. More...

void	setTrans (const Vec3 &v)
	Set translation. More...

Quat	getRot () const
	Get rotation. Beware: bogus if mat contains scale/skew. More...

void	setRot (const Quat &q)
	Set rotation. Beware: overwrites scale/skew. More...

Vec3	getScale () const
	Get scale. Beware: bogus if mat contains rot/skew. More...

void	setScale (const Vec3 &v, const Quat &skew=Quat::identity)
	Set scale. Beware: overwrites rotation. More...

void	setScale (Real f)
	Set uniform scale. Beware: overwrites rotation. More...

Matrix &	translate (const Vec3 &v)
	Make a tm that performs this transform first, then does a translation. ie. T * This. More...

Matrix &	preTranslate (const Vec3 &v)
	Make a tm that does a translation first, then performs this transform. ie. This * T. More...

Matrix &	rotate (const Quat &q)
	Make a tm that performs this transform first, then does a rotation. ie. R * This. More...

Matrix &	preRotate (const Quat &q)
	Make a tm that does a rotation first, then performs this transform. ie. This * R. More...

Matrix &	scale (const Vec3 &v, const Quat &skew=Quat::identity)
	Make a tm that performs this transform first, then does a scale. ie. S * This. More...

Matrix &	scale (Real f)
	Uniform scale. More...

Matrix &	preScale (const Vec3 &v, const Quat &skew=Quat::identity)
	Make a tm that does a scale first, then performs this transform. ie. This * S. More...

Matrix &	preScale (Real f)
	Uniform prescale. More...

Public Member Functions inherited from honey::MatrixBase< Matrix< 4, 4, Real, Options > >
MatrixS &	fromArray (const Num *a, bool rowMajor=true)
	Initialize from array. If the array is in row-major format set rowMajor to true, otherwise set to false for column-major. More...

MatrixS &	fromArray (const Real *a, bool rowMajor=true)

MatrixS &	fromZero ()
	Zero all elements. More...

MatrixS &	fromScalar (Real f)
	Initialize with scalar in every element. More...

MatrixS &	fromIdentity ()
	Make matrix identity. For non-square matrices the identity is in the upper-left square block, the rest is filled with zero. More...

matrix::Builder< MatrixS >	operator<< (T &&val)
	Initialize matrix elements from scalars and other matrices using the comma operator: Matrix() << 1, 2, vec*5 ... The number of assigned elements must total up to be the matrix size exactly. More...

MatrixBase &	operator= (const MatrixBase< T > &rhs)
	Assign to matrix of any size. Asserts that any fixed dimensions in this matrix match those in rhs. More...

Matrix	cast ()
	Convert to a matrix of another real type. More...

bool	operator== (const MatrixBase< T > &rhs) const

bool	operator!= (const MatrixBase< T > &rhs) const

bool	operator< (const MatrixBase< T > &rhs) const

bool	operator> (const MatrixBase< T > &rhs) const

bool	operator<= (const MatrixBase< T > &rhs) const

bool	operator>= (const MatrixBase< T > &rhs) const

Res &&	add (const T &rhs, Res &&res) const
	Add another matrix. Stores result in and returns res. res may reference the same matrix as this or rhs. More...

MatrixS	operator+ () const

MatrixS	operator+ (const MatrixBase< T > &rhs) const

MatrixS &	operator+= (const MatrixBase< T > &rhs)

Res &&	sub (const T &rhs, Res &&res) const
	Subtract another matrix. Stores result in and returns res. res may reference the same matrix as this or rhs. More...

MatrixS	operator- () const

MatrixS	operator- (const MatrixBase< T > &rhs) const

MatrixS &	operator-= (const MatrixBase< T > &rhs)

Res &&	mul (const T &rhs, Res &&res) const
	Multiply with another matrix. This mat's column size must match rhs' row size. Stores result in and returns res. Complexity: $O(m n\ rhs_n)$ . More...

Matrix< s_rows, T::s_cols, Real >	operator* (const T &rhs) const
	Multiply with another matrix. Returns a new matrix. More...

MatrixS	operator* (Real rhs) const

MatrixS &	operator*= (const MatrixBase< T > &rhs)

MatrixS &	operator*= (Real rhs)

MatrixS	operator/ (Real rhs) const

MatrixS &	operator/= (Real rhs)

MatrixS	elemAdd (Real rhs) const
	Add rhs to each element. Returns a new matrix with the results. More...

MatrixS &	elemAddEq (Real rhs)
	Add rhs to each element. More...

MatrixS	elemSub (Real rhs) const
	Subtract rhs from each element. Returns a new matrix with the results. More...

MatrixS &	elemSubEq (Real rhs)
	Subtract rhs from each element. More...

MatrixS	elemMul (const MatrixBase< T > &rhs) const
	Multiply each element with its corresponding element in rhs. Returns a new matrix with the results. More...

MatrixS &	elemMulEq (const MatrixBase< T > &rhs)
	Multiply each element with its corresponding element in rhs. More...

MatrixS	elemDiv (const MatrixBase< T > &rhs) const
	Divide each element by its corresponding element in rhs. Returns a new matrix with the results. More...

MatrixS &	elemDivEq (const MatrixBase< T > &rhs)
	Divide each element by its corresponding element in rhs. More...

MatrixS	elemAbs () const
	Get the absolute value of each element. Returns a new matrix with the results. More...

MatrixS	elemSqr () const
	Square each element. Returns a new matrix with the results. More...

MatrixS	elemInverse () const
	Inverse each element. Returns a new matrix with the results. More...

MatrixS	elemMin (const MatrixBase< T > &rhs) const
	Get the min of each element and its corresponding element in rhs. Returns a new matrix with the results. More...

MatrixS	elemMax (const MatrixBase< T > &rhs) const
	Get the max of each element and its corresponding element in rhs. Returns a new matrix with the results. More...

bool	isZero () const
	Check if each element is exactly zero. More...

bool	isNearZero (Real tol=Real_::zeroTol) const
	Check if each element is close to zero. More...

MatrixS	clamp (const MatrixBase< T > &min, const MatrixBase< T > &max) const
	Clamp each element between its corresponding elements in min and max. Returns a new matrix with the results. More...

Real	sum () const
	Get the sum of all elements. More...

Real	prod () const
	Get the product of all elements. More...

Real	mean () const
	Get the mean of all elements. More...

Real	min () const
	Get the minimum element. More...

Real	max () const
	Get the maximum element. More...

matrix::Block< MatrixS, Rows, Cols >	block (sdt row, sdt col, sdt rows=-1, sdt cols=-1)
	Get block at offset (row,col) with size (Rows, Cols). If Rows or Cols is fixed then `rows` or `cols` may be left unspecified. More...

matrix::Block< const MatrixS, Rows, Cols >	block (sdt row, sdt col, sdt rows=-1, sdt cols=-1) const

matrix::Block< MatrixS >	block (sdt row, sdt col, sdt rows, sdt cols)
	Get dynamic block at offset (row,col) with size (rows, cols) More...

matrix::Block< const MatrixS >	block (sdt row, sdt col, sdt rows, sdt cols) const

matrix::Block< MatrixS, 1, s_cols >	row (sdt row)
	Get row as a row vector. More...

matrix::Block< const MatrixS, 1, s_cols >	row (sdt row) const

matrix::Block< MatrixS, s_rows, 1 >	col (sdt col)
	Get column as a column vector. More...

matrix::Block< const MatrixS, s_rows, 1 >	col (sdt col) const

MatrixS &	resize (sdt rows, sdt cols)
	Sets number of rows/columns and reallocates only if the size has changed (rows*cols). All previous data is lost on reallocation. Returns self. More...

matrix::Iter< MatrixS >	begin ()
	Get an iterator over the elements in row-major order. More...

matrix::Iter< const MatrixS >	begin () const

matrix::Iter< MatrixS >	end ()
	Get an iterator to the end of the iteration provided by begin() More...

matrix::Iter< const MatrixS >	end () const

matrix::Iter< MatrixS >	iter (sdt i)
	Get an iterator to the element at index. More...

matrix::Iter< const MatrixS >	iter (sdt i) const

matrix::Iter< MatrixS >	iter (sdt row, sdt col)
	Get an iterator to the element at (row, col) More...

matrix::Iter< const MatrixS >	iter (sdt row, sdt col) const

Num *	toArray (Num *a, bool rowMajor=true) const
	Copy matrix into array. If the array is in row-major format set rowMajor to true, otherwise set to false for column-major. More...

Real *	toArray (Real *a, bool rowMajor=true) const

Res &&	transpose (Res &&res) const
	transpose and store result in res. Returns res. More...

Matrix< s_cols, s_rows, Real >	transpose () const
	Returns new matrix. More...

void	transposeInPlace ()
	transpose and store in this matrix, only valid for square matrices More...

Res &&	transposeMul (const T &rhs, Res &&res) const
	Stores result in and returns res. More...

Matrix< s_cols, T::s_cols, Real >	transposeMul (const T &rhs) const
	Returns new matrix. More...

Res &&	mulTranspose (const T &rhs, Res &&res) const
	Stores result in and returns res. More...

Matrix< s_rows, T::s_rows, Real >	mulTranspose (const T &rhs) const
	Returns new matrix. More...

Res &&	transposeMulTranspose (const T &rhs, Res &&res) const
	Stores result in and returns res. More...

Matrix< s_cols, T::s_rows, Real >	transposeMulTranspose (const T &rhs) const
	Returns new matrix. More...

auto	minor (sdt row, sdt col) const -> Matrix< (s_rows > 0)?s_rows-1:s_rows, (s_cols > 0)?s_cols-1:s_cols, Real >
	Returns a matrix without the selected row and column. More...

Matrix< s_cols, s_rows, Real >	inverse (optional< Real & > det=optnull) const
	Get the pseudo-inverse of this matrix. The pseudo-determinant will be returned in det if specified. More...

Real	determinant () const
	Get the determinant. Returns the pseudo-determinant if this matrix is not square. More...

Real	cond () const
	Get the condition value. A high value means the matrix is ill-conditioned and close to singular, so inversion and linear ops will be unreliable. More...

Static Public Attributes
static const Matrix	zero

static const Matrix	identity

Protected Member Functions
template<class Num >
Matrix &	fromColMajor (const Num *a)

template<class Num >
Num *	toColMajor (Num *a) const

Protected Member Functions inherited from honey::MatrixBase< Matrix< 4, 4, Real, Options > >
const Real &	m (sdt i) const
	Access matrix element at index. Wrapper for convenience only, more readable than (*this)(i) More...

Real &	m (sdt i)

const Real &	m (sdt row, sdt col) const
	Access matrix element with (row, column) More...

Real &	m (sdt row, sdt col)

MatrixS &	fromColMajor (const Num *a)

Num *	toColMajor (Num *a) const

Friends
template<class T >
class	MatrixBase

VecRow	operator* (const VecRow &v, const Matrix &mat)
	Square matrix, so multiplying a row vector on the left returns a row vector of the same dimension. More...

Additional Inherited Members
Protected Types inherited from honey::MatrixBase< Matrix< 4, 4, Real, Options > >
typedef matrix::priv::Traits< Matrix< 4, 4, Real, Options > >::Storage	Storage

typedef Numeral< Real >::Real_	Real_

typedef Real_::DoubleType	Double_

typedef Double_::Real	Double

typedef Alge_< Real >	Alge

typedef Alge_< Double >	Alge_d

typedef Trig_< Real >	Trig

typedef Svd< Real >	Svd

Detailed Description

template<class Real, int Options>
class honey::Matrix< 4, 4, Real, Options >

4x4 homogeneous matrix class. Supports both affine and projective operations.

Matrix data is in row-major format. Transforms are applied on the left of column vectors (the standard way).

ie. To transform a column vector first by M0, followed by a transform of M1, apply: $ v' = M_1*(M_0*v) = M_1*M_0*v $

Matrix4::VecRow       Matrix4        Matrix4::VecCol (aka. Vec4)
[ x  y  z  w  ]   | 0  1  2  3  |   | x |
                * | 4  5  6  7  | * | y |
                  | 8  9  10 11 |   | z |
                  | 12 13 14 15 |   | w |

Affine matrix translation is in the last column: $ T(x,y,z) = [3,7,11] $

Member Typedef Documentation

template<class Real , int Options>

typedef Vec<s_rows, Real> honey::MatrixBase< Subclass >::VecCol

template<class Real , int Options>

typedef Vec<s_cols, Real, matrix::Option::vecRow> honey::MatrixBase< Subclass >::VecRow

Constructor & Destructor Documentation

template<class Real , int Options>

honey::Matrix< 4, 4, Real, Options >::Matrix ( )

inline

No init.

template<class Real , int Options>

honey::Matrix< 4, 4, Real, Options >::Matrix	(	Real	_00,
		Real	_01,
		Real	_02,
		Real	_03,
		Real	_10,
		Real	_11,
		Real	_12,
		Real	_13,
		Real	_20,
		Real	_21,
		Real	_22,
		Real	_23,
		Real	_30,
		Real	_31,
		Real	_32,
		Real	_33
	)

inline

Construct from values.

template<class Real , int Options>

honey::Matrix< 4, 4, Real, Options >::Matrix ( Real scalar )

inlineexplicit

Initialize with scalar in every element.

template<class Real , int Options>

honey::Matrix< 4, 4, Real, Options >::Matrix	(	const Real *	a,
		sdt	rows,
		sdt	cols,
		bool	rowMajor = `true`
	)

inline

Initialize from array with dimensions (rows x cols). If the array is in row-major format set rowMajor to true, otherwise set to false for column-major.

template<class Real , int Options>

honey::Matrix< 4, 4, Real, Options >::Matrix ( const Quat & q )

inline

Construct from quaternion.

template<class Real , int Options>

honey::Matrix< 4, 4, Real, Options >::Matrix ( const Transform & tm )

inline

Initialize from transform.

template<class Real , int Options>

template<class T >

honey::Matrix< 4, 4, Real, Options >::Matrix ( const MatrixBase< T > & rhs )

inline

Construct from matrix of same size.

Member Function Documentation

template<class Real , int Options>

Matrix honey::Matrix< 4, 4, Real, Options >::adjugate ( ) const

The adjugate matrix is the transpose of the cofactor matrix (used in inversion)

template<class Real , int Options>

void honey::Matrix< 4, 4, Real, Options >::decompose	(	optional< Vec3 & >	trans = `optnull`,
		optional< Quat & >	rot = `optnull`,
		optional< Vec3 & >	scale = `optnull`,
		optional< Quat & >	skew = `optnull`
	)		const

Decompose matrix into translation, rotation, scale and skew.

Warning: If skew is requested and matrix likely has skew, then decomposition is about 10 times slower! Any matrix that has a non-uniform scale likely has skew. /see fromTrs()

template<class Real , int Options>

Real honey::Matrix< 4, 4, Real, Options >::determinant ( ) const

Get the determinant.

template<class Real , int Options>

template<class Num >

Matrix& honey::Matrix< 4, 4, Real, Options >::fromColMajor ( const Num * a )

inlineprotected

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::fromIdentity ( )

inline

Make matrix identity.

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::fromLookAt	(	const Vec3 &	eye,
		const Vec3 &	at,
		const Vec3 &	up
	)

Construct a matrix suitable for a camera.

The result is a right-handed orthonormal space at eye that points towards at along its +Z axis. up is the world's up axis (usually the +Y axis).

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::fromObliqueProjection	(	const Vec3 &	normal,
		const Vec3 &	point,
		const Vec3 &	dir
	)

Construct a matrix that represents a projection onto a plane along a direction.

normal and point define the plane. dir is the unit length projection direction.

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::fromPerspectiveProjection	(	const Vec3 &	normal,
		const Vec3 &	point,
		const Vec3 &	eye
	)

Construct a matrix that represents a perspective projection onto a plane.

normal and point define the plane. eye is the eye point.

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::fromReflection	(	const Vec3 &	normal,
		const Vec3 &	point
	)

Construct a matrix that represents a reflection on a plane.

normal and point define the plane.

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::fromScalar ( Real f )

inline

Initialize with scalar in every element.

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::fromTm ( const Transform & tm )

Initialize from transform.

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::fromTrs	(	const Vec3 &	trans,
		const Quat &	rot = `Quat::identity`,
		const Vec3 &	scale = `Vec3::one`,
		const Quat &	skew = `Quat::identity`
	)

inline

Init from translation, rotation, scale and skew.

A transform first scales, then rotates, then translates: $ tm = T R S $

Scaling is done by first rotating into scale-space using the inverse of skew, then scaling, then rotating back out of scale-space: $S = U K U^{-1}$

template<class Real , int Options>

Quat honey::Matrix< 4, 4, Real, Options >::getRot ( ) const

inline

Get rotation. Beware: bogus if mat contains scale/skew.

template<class Real , int Options>

Vec3 honey::Matrix< 4, 4, Real, Options >::getScale ( ) const

inline

Get scale. Beware: bogus if mat contains rot/skew.

template<class Real , int Options>

Vec3 honey::Matrix< 4, 4, Real, Options >::getTrans ( ) const

inline

Get translation.

template<class Real , int Options>

Matrix honey::Matrix< 4, 4, Real, Options >::inverse ( optional< Real & > det = optnull ) const

Get the inverse of this matrix. The determinant will be returned in det if specified.

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::mul	(	const Matrix< 4, 4, Real, Options > &	rhs,
		Matrix< 4, 4, Real, Options > &	res
	)		const

inline

template<class Real , int Options>

Matrix&& honey::Matrix< 4, 4, Real, Options >::mul	(	const Matrix< 4, 4, Real, Options > &	rhs,
		Matrix< 4, 4, Real, Options > &&	res
	)		const

inline

template<class Real , int Options>

Vec3 honey::Matrix< 4, 4, Real, Options >::mulAffine ( const Vec3 & v ) const

inline

Transform vector with affine part of matrix (apply pos/rot/scale). Same as operator*() but without projection back into w = 1.

template<class Real , int Options>

Vec3 honey::Matrix< 4, 4, Real, Options >::mulRotScale ( const Vec3 & v ) const

inline

Transform vector with upper-left 3x3 rot/scale sub-matrix (no translation)

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::mulTranspose	(	const Matrix< 4, 4, Real, Options > &	rhs,
		Matrix< 4, 4, Real, Options > &	res
	)		const

inline

template<class Real , int Options>

Matrix&& honey::Matrix< 4, 4, Real, Options >::mulTranspose	(	const Matrix< 4, 4, Real, Options > &	rhs,
		Matrix< 4, 4, Real, Options > &&	res
	)		const

inline

template<class Real , int Options>

template<class T >

Matrix<s_rows, T::s_cols, Real> honey::Matrix< 4, 4, Real, Options >::operator* ( const T & rhs ) const

inline

Forward to base.

template<class Real , int Options>

Matrix honey::Matrix< 4, 4, Real, Options >::operator* ( Real rhs ) const

inline

template<class Real , int Options>

VecCol honey::Matrix< 4, 4, Real, Options >::operator* ( const VecCol & v ) const

inline

Square matrix, so multiplying a column vector on the right returns a column vector of the same dimension.

template<class Real , int Options>

Vec3 honey::Matrix< 4, 4, Real, Options >::operator* ( const Vec3 & v ) const

inline

Assumes vector has w = 1, transforms and projects result back into w = 1.

template<class Real , int Options>

Vec2 honey::Matrix< 4, 4, Real, Options >::operator* ( const Vec2 & v ) const

inline

Assumes vector has (z,w) = (0,1), transforms and projects result back into w = 1.

template<class Real , int Options>

template<class T >

Matrix& honey::Matrix< 4, 4, Real, Options >::operator= ( const MatrixBase< T > & rhs )

inline

Assign to matrix of same size.

template<class Real , int Options>

void honey::Matrix< 4, 4, Real, Options >::orthonormalize ( )

Gram-Schmidt orthonormalization on upper-left 3x3 submatrix. Useful for re-normalizing an orthonormal basis to eliminate rounding errors.

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::preRotate ( const Quat & q )

inline

Make a tm that does a rotation first, then performs this transform. ie. This * R.

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::preScale	(	const Vec3 &	v,
		const Quat &	skew = `Quat::identity`
	)

inline

Make a tm that does a scale first, then performs this transform. ie. This * S.

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::preScale ( Real f )

inline

Uniform prescale.

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::preTranslate ( const Vec3 & v )

inline

Make a tm that does a translation first, then performs this transform. ie. This * T.

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::rotate ( const Quat & q )

inline

Make a tm that performs this transform first, then does a rotation. ie. R * This.

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::scale	(	const Vec3 &	v,
		const Quat &	skew = `Quat::identity`
	)

inline

Make a tm that performs this transform first, then does a scale. ie. S * This.

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::scale ( Real f )

inline

Uniform scale.

template<class Real , int Options>

void honey::Matrix< 4, 4, Real, Options >::setRot ( const Quat & q )

inline

Set rotation. Beware: overwrites scale/skew.

template<class Real , int Options>

void honey::Matrix< 4, 4, Real, Options >::setScale	(	const Vec3 &	v,
		const Quat &	skew = `Quat::identity`
	)

inline

Set scale. Beware: overwrites rotation.

template<class Real , int Options>

void honey::Matrix< 4, 4, Real, Options >::setScale ( Real f )

inline

Set uniform scale. Beware: overwrites rotation.

template<class Real , int Options>

void honey::Matrix< 4, 4, Real, Options >::setTrans ( const Vec3 & v )

inline

Set translation.

template<class Real , int Options>

template<class Num >

Num* honey::Matrix< 4, 4, Real, Options >::toColMajor ( Num * a ) const

inlineprotected

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::translate ( const Vec3 & v )

inline

Make a tm that performs this transform first, then does a translation. ie. T * This.

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::transpose ( Matrix< 4, 4, Real, Options > & res ) const

inline

template<class Real , int Options>

Matrix&& honey::Matrix< 4, 4, Real, Options >::transpose ( Matrix< 4, 4, Real, Options > && res ) const

inline

template<class Real , int Options>

void honey::Matrix< 4, 4, Real, Options >::transposeInPlace ( )

inline

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::transposeMul	(	const Matrix< 4, 4, Real, Options > &	rhs,
		Matrix< 4, 4, Real, Options > &	res
	)		const

inline

template<class Real , int Options>

Matrix&& honey::Matrix< 4, 4, Real, Options >::transposeMul	(	const Matrix< 4, 4, Real, Options > &	rhs,
		Matrix< 4, 4, Real, Options > &&	res
	)		const

inline

template<class Real , int Options>

Matrix& honey::Matrix< 4, 4, Real, Options >::transposeMulTranspose	(	const Matrix< 4, 4, Real, Options > &	rhs,
		Matrix< 4, 4, Real, Options > &	res
	)		const

inline

template<class Real , int Options>

Matrix&& honey::Matrix< 4, 4, Real, Options >::transposeMulTranspose	(	const Matrix< 4, 4, Real, Options > &	rhs,
		Matrix< 4, 4, Real, Options > &&	res
	)		const

inline

Friends And Related Function Documentation

template<class Real , int Options>

template<class T >

friend class MatrixBase

friend

template<class Real , int Options>

VecRow operator*	(	const VecRow &	v,
		const Matrix< 4, 4, Real, Options > &	mat
	)

friend

Square matrix, so multiplying a row vector on the left returns a row vector of the same dimension.

Member Data Documentation

template<class Real , int Options>

const Matrix honey::Matrix< 4, 4, Real, Options >::identity

static

template<class Real , int Options>

const Matrix honey::Matrix< 4, 4, Real, Options >::zero

static

The documentation for this class was generated from the following file:

src/common/Honey/Math/Alge/Matrix/Matrix4.h

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Friends

Additional Inherited Members

Detailed Description

template<class Real, int Options> class honey::Matrix< 4, 4, Real, Options >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<class Real, int Options>
class honey::Matrix< 4, 4, Real, Options >